Journal Article10.1177/0278364913488806
A human-inspired object handover controller
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TL;DR: A novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot’s handover behavior are presented.
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Abstract: In this paper, we present a novel controller for safe, efficient, and intuitive robot-to-human object handovers and a set of experiments to evaluate user responses to the robot's handover behavior. The controller enables a robot to mimic human behavior by actively regulating the applied grip force according to the measured load force during a handover. We provide an implementation of the controller on a Willow Garage PR2 robot, demonstrating the feasibility of realizing our design on robots with basic sensor/actuator capabilities. A user study comparing four variations of our controller shows that our design yields both human-like and human-preferred object handovers.
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Citations
Meet me where i'm gazing: how shared attention gaze affects human-robot handover timing
AJung Moon,Daniel M. Troniak,Brian Gleeson,Matthew K. X. J. Pan,Minhua Zheng,Benjamin A. Blumer,Karon E. MacLean,Elizabeth A. Croft +7 more
- 03 Mar 2014
TL;DR: Empirical evidence is provided that using humanlike gaze cues during human-robot handovers can improve the timing and perceived quality of the handover event, and indicates that subjects reach for the offered object significantly earlier when a robot provides a shared attention gaze cue during a handover.
253
Physical Human–Robot Interaction
Sami Haddadin,Elizabeth A. Croft +1 more
- 01 Jan 2016
TL;DR: This paper presents novel lightweight robot designs and interaction control schemes that advance beyond the current capacities of existing high-payload and high-precision position-controlled industrial robots.
244
Object Handovers: A Review for Robotics
TL;DR: The behaviors displayed during human-to-human handovers are compared to the state of the art of robotic assistants and the major areas of improvement for robotic assistants are identified to reach performance comparable to human interactions.
163
On the choice of grasp type and location when handing over an object
Francesca Cini,Valerio Ortenzi,Peter Corke,Marco Controzzi +3 more
- 13 Feb 2019
TL;DR: This work investigated grasp choice and hand placement on objects during a handover when subsequent tasks are performed by the receiver and when in-hand and bimanual manipulation are not allowed, and suggests that human passers favor precision grasps during such handovers.
Learning Dynamic Robot-to-Human Object Handover from Human Feedback
Andras Kupcsik,David Hsu,Wee Sun Lee +2 more
- 01 Jan 2018
TL;DR: A learning algorithm for dynamic object handover, for example, when a robot hands over water bottles to marathon runners passing by the water station, is presented, formulate the problem as contextual policy search, in which the robot learns object hand over by interacting with the human.
References
Roles of glabrous skin receptors and sensorimotor memory in automatic control of precision grip when lifting rougher or more slippery objects
Roland S. Johansson,G. Westling +1 more
TL;DR: The present paper deals quantitatively with the regulation of the coordination between the grip force and the vertical lifting force, denoted as the load force, while small objects were lifted, positioned in space and replaced by human subjects using the pinch grip.
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Towards autonomous robotic butlers: Lessons learned with the PR2
Jonathan Bohren,Radu Bogdan Rusu,E. Gil Jones,Eitan Marder-Eppstein,Caroline Pantofaru,Melonee Wise,Lorenz Mosenlechner,Wim Meeussen,Stefan Johannes Josef Holzer +8 more
- 09 May 2011
TL;DR: A new task-level executive system, SMACH, based on hierarchical concurrent state machines, which controls the overall behavior of the system and integrates several new components that are built on top of the PR2's current capabilities.
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Robotic home assistant Care-O-bot ® 3 - product vision and innovation platform
Birgit Graf,Ulrich Reiser,Martin Hägele,Kathrin Mauz,Peter Klein +4 more
- 14 Jul 2009
TL;DR: The development of a mobile robot to assist people in their home is a long term goal of Fraunhofer IPA and current developments aim at applying the robot in an eldercare facility in order to support the personnel in their daily tasks.
Human-Robot Interaction for Cooperative Manipulation: Handing Objects to One Another
Aaron Edsinger,Charles C. Kemp +1 more
- 01 Aug 2007
TL;DR: It is demonstrated that robots and people can effectively and intuitively work together by directly handing objects to one another and a robotic application that relies on this form of human-robot interaction is presented.